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Fix alternative velocity representations of new functional APIs #99

Merged
merged 10 commits into from
Mar 6, 2024
Merged

Fix alternative velocity representations of new functional APIs #99

merged 10 commits into from
Mar 6, 2024

Commits on Mar 6, 2024

  1. Allow setting the desired representation of random JaxSimModelData

    @diegoferigo
    diegoferigo committed Mar 6, 2024
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  2. Fix generalized free-floating jacobian computation 

    The intermediate link jacobians were computed with the wrong output representation. The to_output helper requires link jacobians to have an inertial-fixed output representation.
    @diegoferigo
    diegoferigo committed Mar 6, 2024
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  3. Copy model.built_from to the resulting model after reduction

    @diegoferigo
    diegoferigo committed Mar 6, 2024
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  4. Speed-up and reduce memory usage of forward dynamics computed with CRB

    @diegoferigo
    diegoferigo committed Mar 6, 2024
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  5. Fix inverse dynamics in Body and Mixed representations 

    The link forces passed as inputs are always in the active representation of data. Therefore, they need to be converted to Inertial before passing them to RNEA.
    @diegoferigo
    diegoferigo committed Mar 6, 2024
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  6. Update logic to select the representation of JaxSimModelReferences

    @diegoferigo
    diegoferigo committed Mar 6, 2024
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  7. Fix changing representation of link forces in JaxSimModelReferences

    @diegoferigo
    diegoferigo committed Mar 6, 2024
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  8. Update type hints and docstrings

    @diegoferigo
    diegoferigo committed Mar 6, 2024
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  9. Fix the computation of g(q) and h(q, ν)

    @diegoferigo
    diegoferigo committed Mar 6, 2024
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  10. Update PyTree type definition

    @diegoferigo
    diegoferigo committed Mar 6, 2024
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